JP2515523B2 - Branching control system for mobile vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to a branch of a mobile vehicle in which a guide line for guiding a mobile vehicle is provided with a branch intersection and a branch guide line connected to the branch intersection is provided. Regarding travel control equipment.

[Conventional technology]

In such a branching control system for a moving vehicle, conventionally,
An indicator for branching control indicating a position signal mark attached to the stop position of the moving vehicle on the branch guidance line is provided at a position on the front side of the branch intersection, and a stop for indicating the stop position of the moving vehicle A signal mark is provided at a position on the front side of the stop position, and a reading unit for reading the information of the branch control indicator and the stop signal mark for the stop instruction on the moving vehicle side, and a position signal indicated A microcomputer that executes branch control when the mark and read information of the branch control indicator in the reading means match, and executes stop control when the reading means reads the stop signal mark. Is provided, and the indicator for branching control and the stop signal mark are constituted by a reflective tape attached to the floor surface (see, for example, JP-A-59-59). See JP 711).

That is, a position signal mark attached to a stop position at which a moving vehicle should stop in proximity is designated in advance, and as the moving vehicle approaches the branch intersection, a branch control provided at the front side of the branch intersection. When the read signal is read, and the read information matches the position signal mark designated in advance, it is branched, and when the stop signal mark is read as the stop position is approached, control is performed. .

[Problems to be solved by the invention]

However, in the above conventional configuration, since the information for the branch control indicator and the stop signal mark is fixed, for example, the layout of the guide line of the mobile vehicle or the travel route of the mobile vehicle is changed, or It is inconvenient because it is necessary to replace the instruction body for branch control and the stop signal mark whose contents of the instruction information are changed with each change of the stop position.

Further, in the case where a plurality of stop positions are provided in the branch guide line, in order to cause the moving vehicle to travel to a desired stop position and stop, for example, the number of times the stop signal mark is read is specified in advance, The reading means is controlled to stop when the stop signal mark is read the designated number of times. Therefore, as the instruction information for stopping the moving vehicle at a desired stop position, it is necessary to instruct, for example, the number of times the stop signal mark is read, in addition to the position signal mark. It was.

The present invention has been made in view of the above circumstances,
The purpose is to flexibly respond to changes in the layout of the guide line of the moving vehicle, changes in the traveling route of the moving vehicle, or additional changes in the stop position without exchanging the indicator for stop control and the stop signal mark. At the same time, the instruction information for stopping the moving vehicle at the desired stop position is reduced to simplify the operation.

[Means for solving the problem]

A characteristic configuration of the branch traveling control facility for a mobile vehicle according to the present invention is that a branch control indicator indicating information related to address information attached to a stop position of the mobile vehicle on the branch guide line is provided on the front side of the branch intersection. An indicator for stop instruction, which is provided at a location and indicates the address information attached to the stop position, is provided at a location on the front side of the stop position, and on the moving vehicle side, the indicator for branch control and the Based on the reading means for reading the information of the indicator for the stop instruction and the address information attached to the stop position designated as the target traveling position and the read information of the reading means, the branch direction and whether or not to stop are determined. A travel control means for determining is provided, and the branch control indicator and the stop instruction indicator are provided with a memory in which the stored information is rewritable and information for the memory. The storage medium is a rewritable storage medium that includes a controller that controls reading and writing and an antenna that transmits reading information and receives writing information. The branch control indicator is the branch guiding line. It is configured such that it is possible to show the information related to the address information attached to each of the plurality of stop positions of the moving vehicle, and the action and effect thereof are as follows.

[Work]

Instructing the address information attached to the stop position to the moving vehicle in advance, in front of the branch intersection, read the information of the indicator for branch control, based on the read information and the address information pre-specified, Automatically determine the branch direction of the intersection, and read the information of the stop instruction indicator before the stop position, and based on the read information and the pre-specified address information, whether to stop To determine automatically.

Moreover, the branch control indicator is provided with a memory in which the stored information can be rewritten, a controller that controls reading and writing of information from the memory, and an antenna that transmits the reading information and receives the writing information.
It is configured to be able to show information related to the address information attached to each of the plurality of stop positions of the moving vehicle on the branch guide line.

Therefore, even when a plurality of stop positions are provided on the branch guide line, by indicating only the address information attached to the stop position in advance, the branch guide having the stop position corresponding to the pre-specified address information is provided. It is possible to automatically branch to the line and stop at the stop position corresponding to the address information previously designated in the branch guide line. Moreover, one indicator for branch control is provided at each intersection.
All you have to do is set up a stand.

Further, the stop instruction indicator is also configured to include the memory, the controller, and the antenna similarly to the branch control indicator, and the branch control indicator and the stop instruction indicator are stored information. Since it is configured as a rewritable storage medium, the same indicator can be repeatedly used as an indicator showing different information only by rewriting the stored information in the storage medium.

〔The invention's effect〕

Therefore, even when a plurality of stop positions are provided in the branch guide line, the instruction information for stopping the moving vehicle at the desired stop position is only the address information attached to the stop position, and thus the operation can be simplified. . Moreover, since it is only necessary to provide one indicator for branching control at each intersection, the facility configuration can be simplified.

Further, since the instruction information of the branch control indicator and the stop instruction indicator can be rewritten, the stop position and the traveling route of the moving vehicle can be easily changed.

〔Example〕

 Embodiments of the present invention will be described below with reference to the drawings.

As shown in FIG. 1, a guide line (L) for guiding a moving vehicle is provided along a traveling route of a moving vehicle (A) for transferring a load, and at a plurality of points of the guiding line (L), A branch intersection (K) is provided, a plurality of branch guide lines (La) connected to the branch intersection (K) are provided so as to merge again with the guide line (L), and
A plurality of work stations (ST ₁ ) to (ST ₆ ) as stop positions (ST) of the moving vehicle (A) are provided on the lateral sides of the guide line (L) and the branch guide line (La), respectively. At the same time, a load supply station (KST) in which a plurality of load supply units (STa) to (STf) are juxtaposed in parallel with each other is provided beside the guide line (L). While automatically moving a plurality of moving vehicles (A) simultaneously between the load supply station (KST) and each of the work stations (STn), each of the work stations (ST)
₁ ) to (ST ₆ ) are equipped with a transportation facility that supplies various articles.

As an indicator for branch control, which indicates information related to the address information attached to the stop position (ST) of the moving vehicle (A), at a position on the near side of each of the branch intersections (K), a branch control for An ID card (Da) is provided, and the branch control ID card (Da) stores a number (n) corresponding to each work station on a front side of the work station (STn). ) Is provided with an ID card (Db) for a stop instruction, which has the same structure as the above. That is, the stop instruction ID card (Db) is
The number (n) assigned in a one-to-one correspondence with n) corresponds to a stop instruction indicator which is shown as address information attached to the stop position (ST).

As shown in FIGS. 1 and 2, each of the plurality of load supply units (STa) to (STf) has a stop position (ST) with respect to the moving vehicle (A), that is, each work station. (ST
₁ ) to (ST ₆ ) In order to instruct which of the loads is to be conveyed, the ground side communication device for instructing the number (n) of the work station (STn) as the address information attached to the stop position (ST). (1a) is provided and the moving vehicle (A) is
The vehicle body side communication device (1) with respect to the ground side communication device (1a)
b) is provided, and a reader (R) described below is provided as a reading unit for reading the stored information of the ID cards (Da) and (Db) in the mobile vehicle (A).

In FIG. 1, (H) is a standby position for the moving vehicle (A) not loaded with a load, and (m ₁ ) is each of the load supply units (STa) to (STf). A mark for instructing the moving vehicle (A) at the vehicle stop position at each of the work stations (ST ₁ ) to (ST ₆ ), and (m ₂ ) is the branch guide line (La) and the guide line (L). It is a mark for designating the starting point of the merge.

Thus, in each of the plurality of load supply units (STa) to (STf), the load is transferred and the target traveling position is set on the moving vehicle (A) via the communication devices (1a) and (1b). The number (n) of the work stations (ST ₁ ) to (ST ₆ ) is designated as the information of the stop position corresponding to, and as the moving vehicle (A) approaches the branch intersection (K), The memory information of the branch control ID card (Da) is read, and the read information and the load supply units (STa) to (S).
Based on the number (n) of the work stations (STn) designated in Tf), the branch direction at each of the branch intersections (K) is automatically determined, and the work stations (ST ₁ ) to (ST). _By approaching ₆ ), the number stored in the ID card (Db) for stop instruction is read and collated with the instructed number (n),
It can be automatically stopped at a desired work station (STn).

 Hereinafter, the configuration of each unit will be described in detail.

Explaining the configuration of the guide line (L) and the branch guide line (La), a light reflection tape having a predetermined width is attached to the traveling road surface side of the moving vehicle (A) to form the light reflection tape. The deviation in the lateral direction of the vehicle body with respect to the guide line (L) and the branch guide line (La) can be detected based on the light receiving state of the reflected light from the reflecting tape.

Explaining the structure of the mark (m ₁ ) (m ₂ ),
A light reflection tape piece having the same structure as the light reflection tape for forming the guide line (L) and the branch guide line (La),
The guide lines (L) and the branch guide lines (La) are attached to the traveling road surface beside the sides to form the marks (m ₁ ) and (m ₂ ), and the number of attached light reflecting tape pieces is set. By making them different, the marks (m ₁ ) and (m ₂ ) can be identified.

Explaining the structure of the moving vehicle (A), as shown in FIG. 2 and FIG. 3, it also serves as a steering wheel which is supported on the front side of the vehicle body by a steering motor (4) so that its direction can be freely changed. The propulsion wheels (2) of the driving motor (3) are provided so as to be freely stoppable, and a pair of left and right driven wheels (5) are provided on the rear side of the vehicle body.
(5) is provided. Then, as will be described later in detail, an optical sensor (6) for detecting the guide line (L) and the branch guide line (La) is integrated with the propulsion wheel (2) in a state where the light receiving surface thereof faces the lower side of the vehicle body. A mark sensor (7) for detecting the stop mark (m ₁ ) and the merge mark (m ₂ ) is provided at the lower part of the vehicle body.

The detection information of each of the sensors (6) and (7) and the information instructed through the communication devices (1a) and (1b) are determined,
Steering control means for controlling traveling of the moving vehicle (A), reader (R) for reading stored information of the ID cards (Da), (Db)
Based on the control of the operation of the device and its read information and the number (n) of the work station (STn) instructed via the communication devices (1a) and (1b), the branch direction and whether or not to stop are determined. There is provided a control device (8) which constitutes a traveling control means for discrimination. In FIG. 3, (9) is a drive device for the traveling motor (3), (10) is a drive device for the steering motor (4), and (C) is the standby position (H).
It is a central control device that manages the operation of the entire equipment, such as an instruction to start the moving vehicle (A) stopped at the same time, and a load transfer work at the load supply station (KST) and each work station (STn).

The structure of the optical sensor (6) will be described below.
As shown in FIG. 3 and FIG. 3, in the state in which the lateral position of the moving vehicle (A) is located at an appropriate position with respect to the guide line (L) or the branch guide line (La), respectively, The center of the sensor (6) in the width direction is attached so as to be positioned on the center of the guide line (L) or the branch guide line (La) in the width direction. Then, four light receiving elements (S ₁ ) to (S ₄ ) for receiving the reflected light from the guide line (L) or the branch guide line (La).
The inner two (S ₂ ) and (S ₃ ) are the guide lines (L).
Alternatively, the two outside guide lines (S ₁ ) and (S ₄ ) located on the left and right edges of the branch guide line (La) are the guide lines (L).
Alternatively, the guide line (L) or the branch is arranged so as to be positioned outside the edge of the branch guide line (La) while being distributed from the center of the optical sensor (6) to the left and right at predetermined intervals. A light projector (11) for illuminating the guide line (La) is provided.

That is, as the moving vehicle (A) shifts to the left or right with respect to the guide line (L) or the branch guide line (La), the two light receiving elements (S ₁ ) and (S ₁ ) arranged outside are arranged. Any one of ₄ ) receives the reflected light from the line and can detect the deviation from the line.

Explaining the structure of the mark sensor (7),
Although not shown, similar to the optical sensor (6), a plurality of light receiving elements are arranged side by side in the lateral direction of the vehicle body with their detection surfaces facing the lower side of the vehicle body and receive the reflected light. The marks (m ₁ ) and (m ₂ ) are detected based on the position of.

The ID cards (Da) and (Db) have the same structure, and as shown in FIG. 3, a memory (12) whose stored information is rewritable, information read from the memory (12) and A controller for controlling writing (13),
Further, an antenna (14) for transmitting read information to the reader (R) and receiving write information to a writing device, which will be described later, is integrally provided in a resin case or the like. So, the stored information,
The storage medium is an electromagnetic induction type and is rewritable in a non-contact state. However, although not shown, the memory (12) holds stored information by a built-in battery.

Further, the ID card (Da) is configured so as to be able to indicate the number (n) of each of the plurality of work stations (STn) in the branch guide line (La).

Explaining the structure of the reader (R), the ID
The reading antenna (15) for the card (Da), (Db) side antenna (14), and the ID card (Da), (Db) side controller (13) via the antenna (15). On the other hand, a controller (16) for instructing the reading of stored information from the memory (12) and its reading operation is provided, and the read information is read by the controller (16).
It is transmitted to the control device (8) on the moving vehicle side via the.

However, the controller (16) on the reader (R) side is
The controller (13) on the side of the ID cards (Da) and (Db) is maintained, and the controller (13) on the side of the ID cards (Da) and (Db) is maintained. By keeping the read command from the reader (R) always receivable, as the moving vehicle (A) approaches the installation location of the ID cards (Da) and (Db), The stored information can be automatically read.

The operation of the control device (8) will be described below with reference to the flow chart shown in FIG.

As a start command is transmitted from the central control unit (C) to the moving vehicle (A) stopped at the standby position (H) via the communication units (1a) and (1b). , Start toward the cargo supply station (KST).

However, along with the start command, the cargo supply unit (STa) that should be stopped
~ (STf) position information, for example, each of the cargo supply unit (ST
a) to (STf) are transmitted together as the number of stop marks (m ₁ ) provided, and the mark sensor (7) detects the corresponding stop mark (m ₁ ). Along with this, it stops in a state of being located on the side of any one of the load supply units (STa) to (STf).

Then, during transfer of the load to be transported, the load supply unit (ST
a) to (STf) ground side communication device (1a)
The number (n) of the work station (STn) to which the load is to be conveyed is commanded via the vehicle body side communication device (1b), and when the load transfer is completed, the start command is transmitted and the light is transmitted. Steering control is started based on the information detected by the sensor (6), and the vehicle automatically travels along the guide line (L).

The reader (K) reads the stored information of the branch control ID card (Da) as it approaches the branch intersection (K), and the read information and the load supply station (KST). The number (n) of the work station designated by the above is collated, and if the read number includes the designated number, it is branched from the guide line (L) as described later and the designated number. If there is not, pass the intersection (K).

Then, as approaching each work station (STn) provided in each of the branch guide lines (La),
In the same way as reading the stored information of the ID card (Da) at the branch intersection (K), each work station (ST)
n) The memory information of the stop ID card (Db) is read,
Then, the stored information is collated with the number (n) of the instructed work station (STn), and if they coincide with each other, deceleration traveling is started. Then, when the mark sensor (7) detects the stop mark (m ₁ ), the traveling is stopped and the load is transferred.

On the other hand, when the stored information of the stop ID card (Db) and the designated work station (STn) number (n) do not match, the work station (STn) should be passed,
Even if the mark sensor (7) detects the stop mark (m ₁ ), it is controlled so that it is ignored.

Through transfer of the load at a predetermined work station (STn), via the ground communication device (1a) and vehicle body communication device (1b) provided in each of the work stations (STn). The start command is transmitted, and the vehicle starts to return to the standby position (H).

Next, as the mark sensor (7) detects the merging mark (m ₂ ) provided at a position on the front side of the intersection where the branch guiding line (La) and the guiding line (L) meet. Then, as will be described later, the merging control is performed to join the guiding line (L), and thereafter, when the stop mark (m ₁ ) is detected, the vehicle automatically stops at the standby position (H). Then, it will stop and wait until the start command is transmitted.

The branch control will be described. When branching from the guide line (L) to the branch guide line (La), the four light receiving elements (S ₁ ) to (S ₁ )
Two right of _{(S 4) (S 3)} , (S 4) using only body inward of the light-receiving element (S ₃₎ induction line (L),
In order to receive the reflected light from (La) and to keep the light receiving element (S ₄ ) outside the vehicle body from receiving the reflected light,
By controlling the steering, it is branched to the right with respect to the guide line (L).

On the other hand, when passing without branching at the branch intersection (K), the left two (S) of the _four light receiving elements (S ₁ ) to (S ₄ ) constituting the optical sensor (6) are ₁ ), (S ₂ )
The light receiving element (S ₂ ) inside the vehicle body receives the reflected light from the guide lines (L) and (La), and the light receiving element (S ₁ ) outside the vehicle body receives the reflected light using only By carrying out steering control so as to maintain the state not to pass, the branch intersection (K) is passed along the guide line (L).

However, when passing through the branch intersection (K), and
In either case of branching, after traveling the set distance, as usual, one of the four light receiving elements (S ₁ ) to (S ₄ ) forming the optical sensor (6) is located on the inner side of the vehicle body. 2 (S ₂ ) and (S ₃ ) receive the reflected light from the line, and
Four light receiving elements (S ₁ ) to (S ₄ ) so that the two (S ₁ ) and (S ₄ ) on the outer side of the vehicle body do not receive reflected light.
Steering control will be performed using all the detection information.

If the merging control is further described, the set distance is set as the mark sensor (7) detects the merging mark (m ₂ ) as in the case of branching to the right at the branch intersection (K) described above. While traveling the vehicle, only the right two (S ₃ ) and (S ₄ ) of the _four light receiving elements (S ₁ ) to (S ₄ ) are used to detect the light receiving element (S ₃ ) inside the vehicle body. ) Receives the reflected light from the guide lines (L) and (La), and controls the steering so that the light receiving element (S ₄ ) outside the vehicle body does not receive the reflected light. , Join the guide line (L).

A work station (ST) is attached to the ID card (Da), (Db).
The configuration of the writing device for storing the number (n) of n) will be described. The configuration is similar to that of the reader (R), and for the ID cards (Da) and (Db),
Information is written in a non-contact manner by electromagnetic induction so that the information to be transmitted is stored (not shown).
However, since the ID cards (Da) and (Db) are installed at a plurality of locations, this writing device is configured to be movable and portable while storing the information to be written.

When the position or the number of the route for moving the transfer vehicle (A) or the work station (STn) to be stopped is changed in accordance with the layout change, etc., it is attached to the branch intersection (K). By moving the installation position of the ID card (Da) and the ID card (Db) attached to each work station (STn) and rewriting the stored contents using the writing device, it is possible to move the vehicle. (A)
It is possible to respond flexibly without modifying the side.

[Other Embodiments] In the above embodiment, in order to configure the branch control indicator to a storage medium in which the stored information is rewritable, an ID card (D
Although the case of configuring in a) and (Db) is illustrated, for example, IC
A card or the like may be used. Moreover, in addition to the electromagnetic induction type, light, ultrasonic waves, or the like may be used to exchange the stored information, and the specific configuration of the storage medium can be variously changed.

Further, in the above embodiment, as the instruction information for branch control,
Work station (STn), which is the destination of the moving vehicle (A)
Although the case of storing the number of is illustrated, for example, each branch guide line (La) is given a number associated with the stop position (ST) of the line (La), and The corresponding information may be stored,
The contents of the stored information can be changed in various ways.

Further, in the above embodiment, the guide line (L) and the branch guide line (La) are formed by using the light reflection tape, and the traveling control marks (m ₁ ) and (m ₂ ) are formed on the light reflection tape. Although the case where the mobile vehicle (A) is guided by an optical induction method is illustrated as an example, for example, the guide line (L) and the branch guide line (La) are magnetic tapes or wires that radiate electromagnetic waves for guidance. And the mark (m ₁ ),
(M ₂ ) is, for example, formed by combining the magnetic pole arrangement (S or N) of the permanent magnet and the presence or absence thereof, and is configured in an electromagnetic induction type. For example, the induction line (L), the branch induction line (La) and The specific configurations of the marks (m ₁ ) and (m ₂ ) and the specific configuration of the moving vehicle (A) can be changed in various ways.

It should be noted that reference numerals are given in the claims for convenience of comparison with the drawings, but the present invention is not limited to the structures of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 shows an embodiment of a branch travel control facility for a mobile vehicle according to the present invention, and FIG. 1 is an overall plan view showing the layout of the facility.
FIG. 2 is a schematic plan view showing the configuration of the mobile vehicle, FIG. 3 is a block diagram showing the control configuration, and FIG. 4 is a flowchart showing the operation of the control device. (12) …… Memory, (13) …… Controller, (14)…
... antenna, (L) ... guide line, (La) ... branch guide line, (K) ... branch intersection, (A) ... moving vehicle,
(ST) …… Stop position, (Da) …… Indicator for branch control,
(Db) ... indicator for stop instruction, (R) ... reading means.

Claims (1)

(57) [Claims] 1. A branch traveling of a mobile vehicle in which a guide line (L) for guiding a moving vehicle is provided with a branch intersection (K) and a branch guide line (La) connected to the branch intersection (K) is provided. A control facility, wherein an indicator (Da) for branch control indicating information related to address information attached to the stop position (ST) of the moving vehicle (A) on the branch guide line (La) is provided at the branch intersection. An indicator (Db) for providing a stop instruction indicating the address information attached to the stop position (ST) is provided on the front side of the stop position (ST). On the moving vehicle (A) side, a reading means (R) for reading information of the branch control indicator (Da) and the stop instruction indicator (Db), and the stop designated as a target traveling position. Address information attached to the position (ST) and the reader Based on the read information of (R), traveling control means for determining the branch direction and whether to stop is provided, and the branch control indicator (Da) and the stop instruction indicator (Db) are provided. , Rewritable memory memory (12)
And a controller (13) for controlling reading and writing of information from and to the memory (12) and an antenna (14) for transmitting reading information and receiving writing information, so that the stored information can be freely rewritten into a storage medium. The indicator for controlling branching (Da) is configured to indicate information related to the address information indicated to each of the plurality of stop positions (ST) of the moving vehicle (A) in the branching guide line (La). A branching drive control facility for mobile vehicles that is configured to be capable of.